How can I go straight to edit mode by choosing selection modes?
I agree with you - and set up a macro on Belkin Nostromos Keypad.   So I kind of cheated to solve this (and set it up outside of Blender).    I also have been playing with this same macro with "VoiceMacro" to do the same thing.   "Vertex" is programmed to: Press ESC (make sure I'm out of circle select), 
Press Tab, 6 (edit mode)
Press 1, (vertex select)